Robot operating apparatus provided with handles for operating robot

ABSTRACT

A robot operating apparatus includes a force sensor mounted on the distal end part of an arm unit and a handle supporting unit mounted on the distal end part of the arm unit via the force sensor. The handle supporting unit supports two handles, and a handle structure including the two handles has two force points where forces are applied while being gripped with both hands. The force sensor detects a resultant force of forces acting on the two force points, and transmits the same to a robot control apparatus, so that the distal end part of the arm unit moves in accordance with a direction and a magnitude of the resultant force detected by the force sensor.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The present invention relates to a robot operating apparatus providedwith handles for operating a robot.

2. Description of the Related Art

With respect to an industrial robot, in order to secure the safety ofhuman beings, a protection barrier is provided around a movable area ofthe robot so as to limit the entry of human beings into the movable areaof the robot. However, in recent years, industrial robots provided witha specific measure that sufficiently secures the safety of human beingsare permitted to operate in an operating space shared with human beingsinstead of provision of the safety barrier.

Therefore, industrial robots that cooperate with human beings arepreferably configured to allow human beings to operate an arm unit ofthe robot as necessary in order to enhance working efficiency. In orderto do so, a configuration in which a robot operating apparatus forallowing human beings to operate the robot is provided at the distal endpart of the arm unit has been proposed (for example, Japanese Patentpublication No. 3188953).

FIG. 8 is a perspective view illustrating an example of a robot providedwith a robot operating apparatus of the related art, and FIG. 9 is aperspective view of the robot operating apparatus illustrated in FIG. 8in an enlarged scale.

As illustrated in FIG. 8, a robot operating apparatus 103 is mounted onthe distal end part of an arm unit 102 of a robot 101.

Specifically, as illustrated in FIG. 9, the robot operating apparatus103 includes a force sensor 105 mounted on the distal end part of thearm unit 102, and a handle 106 connected to the force sensor 105. Whenan operator grips the handle 106 and applies a force to the handle 106in a direction in which the arm unit 102 is moved, the direction andmagnitude of the force are detected by the force sensor 105 as electricsignals, and are transmitted to a robot control apparatus (notillustrated). Accordingly, the robot control apparatus moves the distalend part of the arm unit 102 in accordance with the direction andmagnitude of the detected force.

However, the robot operating apparatus 103 of the related artillustrated in FIG. 9 has a structure including one rod-shaped handle106 projecting sideways from the force sensor 105, which is subjected toapplication of a force by the operator. In this structure, it isdifficult for the operator to grip the handle 106 and applying a forceto the arm unit 102 in a rotational direction about an axial line X ofthe handle 106 (see FIG. 9).

Therefore, the robot operating apparatus 103 of the related art has aproblem in ease of movement of the distal end part of the arm unit 102as the operator intends.

SUMMARY OF INVENTION

The present invention provides a robot operating apparatus that iscapable of moving the distal end part of an arm unit as an operatorintends.

According to a first aspect of the present invention, a robot operatingapparatus including; a sensor mounted on the distal end part of an armunit of an industrial robot that is controlled by a control apparatusand configured to detect a force or moment; and a handle supporting unitmounted on the distal end part of the arm unit via the sensor, andtransmitting the force detected by the sensor to the control apparatusin a form of an electric signal to move the distal end part of the armunit in accordance with a direction and a magnitude of the forcedetected by the sensor, wherein

the handle supporting unit supports as least one handle, and a handlestructure including at least one handle includes at least two forcepoints where forces are applied while being gripped with both hands, andthe sensor is adapted to detect a resultant force of forces applied tothe two force points.

According to a second aspect of the present invention, the robotoperating apparatus according to the first aspect wherein the handle isprovided with a switch, and the robot operating apparatus is adapted topermit the distal end part of the arm unit to move only when the switchis pressed is provided.

According to a third aspect of the present invention, the robotoperating apparatus according to the first or second aspect, whereinswitches are provided in the vicinities of at least the two force pointsrespectively, and the robot operating apparatus is adapted to permit thedistal end part of the arm unit to move only when the two switches arepressed simultaneously is provided.

According to a fourth aspect of the present invention, the robotoperating apparatus according to any one of the first to third aspect,wherein a length of a perpendicular line extending from one of the twoforce points down to an extension line of a force input axis of thesensor and a length of a perpendicular line extending from the otherforce point of the two force points down to the extension line of theforce input axis of the sensor are substantially the same. In thisspecification and Claims, the expression “substantially the same” meansthat the lengths of the two perpendicular lines do not have completelythe same.

According to a fifth aspect of the present invention, the robotoperating apparatus according to any one of the first to fourth aspect,wherein the robot operating apparatus includes a speed change switchconfigured to change a speed of the distal end part of the arm unit whenmoving the distal end part of the arm unit, and the robot operatingapparatus is adapted to send a predetermined speed command value to thecontrol apparatus when the speed change switch is pressed is provided.

According to a sixth aspect of the present invention, the robotoperating apparatus according to any one of the first to fifth aspect,including an action mode change-over switch configured to change anaction mode when moving the distal end part of the arm unit, wherein therobot operating apparatus is adapted to send a command to change theaction mode to a translational action, rotational action, or atranslational and rotational action to the control apparatus when theaction mode change-over switch is pressed is provided.

According to the seventh aspect of the present invention, the robotoperating apparatus according to any one of the first to sixth aspect,including a teaching switch configured to give an instruction about anaction of the arm unit to the control apparatus, wherein the robotoperating apparatus is adapted to send a command to give an instructionabout an action of the arm unit to the control apparatus when theteaching switch is pressed is provided.

According to an eighth aspect of the present invention, the robotoperating apparatus according to any one of the first to seventh aspect,including a hand unit mounted on the sensor and configured to grip aworkpiece, and a hand opening and closing switch configured to open andclose the hand unit, wherein the robot operating apparatus is adapted tosend a hand action command to the hand unit when the hand opening andclosing switch is pressed is provided.

BRIEF DESCRIPTION OF THE DRAWINGS

Other objects, characteristics, and advantages as well as the objects,characteristics, advantages of the present invention described abovewill be clearly understood from detailed description of typicalembodiments of the present invention illustrated in attached drawings.

FIG. 1 is a perspective view illustrating an example of a robot providedwith a robot operating apparatus according to a first embodiment.

FIG. 2 is a perspective view of the robot operating apparatusillustrated in FIG. 1 in an enlarged scale.

FIG. 3 is an explanatory drawing of switches provided on two handles anda handle supporting unit respectively illustrated in FIG. 2.

FIG. 4 is a perspective view illustrating an example of a mode of therobot operating apparatus according to the first embodiment providedwith a hand unit.

FIG. 5 is a perspective view of a robot operating apparatus according toa second embodiment.

FIG. 6 is a perspective view illustrating a robot operating apparatusaccording to a third embodiment.

FIG. 7 is a perspective view illustrating the robot operating apparatusaccording to the third embodiment.

FIG. 8 is a perspective view illustrating an example of a robot providedwith a robot operating apparatus of the related art.

FIG. 9 is a perspective view of the robot operating apparatusillustrated in FIG. 8 in an enlarged scale.

DETAILED DESCRIPTION

Referring now to the drawings, embodiments of the present invention willbe described below. In the drawings described below, the same componentsare denoted by the same reference numerals. Components assigned with thesame reference numerals throughout the drawings are meant to have thesame functions. The scales of these drawings are changed as necessaryfor easy understanding.

First Embodiment

FIG. 1 is a perspective view illustrating an example of a robot providedwith a robot operating apparatus according to a first embodiment. FIG. 2is a perspective view of the robot operating apparatus illustrated inFIG. 1 in an enlarged scale.

As illustrated in FIG. 1, a removable robot operating apparatus 13 ismounted on the distal end part of an arm unit 12 of a robot 11. Therobot 11 described above is, for example, an industrial robot such as avertical articulated robot.

The robot operating apparatus 13 of the first embodiment includes: aforce sensor 15 mounted on the distal end part of the arm unit 12; and ahandle supporting unit 17 mounted on the distal end part of the arm unit12 via the force sensor 15, as illustrated in FIG. 2.

Specifically, the handle supporting unit 17 supports two rod-shapedhandles 16A, 16B. The handles 16A, 16B are preferably providedintegrally with the handle supporting unit 17. A handle structureincluding the two handles 16A, 16B have two force points S1, S2 whereforces are applied while gripping the two handles 16A, 16B with bothhands, respectively.

In addition, the handle supporting unit 17 described above is joined toa side surface 15 a of the force sensor 15 mounted on the distal endpart of the arm unit 12 as illustrated in FIG. 2.

When an operator grips the two handles 16A, 16B with both hands andapplies a force in a direction in which the arm unit 12 is moved, aresultant force of the forces acting respectively on the two handles16A, 16B is input to the force sensor 15 via the handle supporting unit17. The force sensor 15 detects a direction and a magnitude of theresultant force input thereto, and transmits the direction and themagnitude of the detected resultant force to a robot control apparatus18 in a form of an electric signal. The robot control apparatus 18 movesthe distal end part of the arm unit 12 in accordance with the directionof the resultant force detected by the force sensor 15 and changes thespeed of movement of the distal end part of the arm unit 12 inaccordance with the magnitude of the resultant force detected by theforce sensor 15.

In addition, in the first embodiment, the two rod-shaped handles 16A,16B are provided respectively on both sides of the handle supportingunit 17 as illustrated in FIG. 2. The two rod-shaped handles 16A, 16Bare disposed so as to form a substantially right angle with respect toeach other. When one handle 16A is oriented in a horizontal direction,the other handle 16B is oriented in a vertical direction as illustratedin FIG. 2. In other words, the handle structure including the rod-shapedtwo handles 16A, 16B illustrated in FIG. 2 presents a mode having asubstantially L-shaped handle.

Since the two handles 16A, 16B are disposed as described above, theoperator is able to apply a rotational force about an axial line of therod-shaped handle 16A easily to the arm unit 12 while gripping the twohandles 16A, 16B with both hands. Such an effect is achieved not only bythe mode of the substantially L-shaped handle as illustrated in FIG. 2,but also by handles of other modes described later (see FIG. 5 to FIG.7).

The force sensor 15 of this embodiment is a general strain gauge-typeforce sensor (not illustrated) including: a cylindrical case; acylindrical body adapted to be distorted upon reception of a forceapplied to the cylindrical case; and a plurality of strain gaugesadhered to the cylindrical body. The cylindrical body is disposed in thecylindrical case with a central axis of the cylindrical body alignedwith a central axis of the cylindrical case in order to cause thecylindrical body to distort as the cylindrical case distorts. Thegeneral strain gauge-type force sensor as described above detects adirection and a magnitude of a force applied to the cylindrical casedescribed above from a twisting distortion about the central axis of thecylindrical body described above and a bending distortion with referenceto the central axis of the cylindrical body described above. Consideringthe configuration described above, when detecting a force by the straingauge-type force sensor, a source of generation of a force detected ispreferably joined to a ceiling part or a bottom surface part of thecylindrical case, which are located in a direction of the central axisof the cylindrical body described above.

In the case of this embodiment, the side surface 15 a of the forcesensor 15 to which the handle supporting unit 17 is joined correspondsto the ceiling part or the bottom surface part of the cylindrical caselocated in the direction of the central axis of the cylindrical bodydescribed above as illustrated in FIG. 2. In this specification, thecentral axis of the cylindrical body described above is referred to as“force input axis”, and a dot-and-dash line A indicated in FIG. 2represents an extension line A of a force input axis of the force sensor15.

In addition, in this embodiment, when the operator grips the two handles16A, 16B with both hands and moves the arm unit 12, forces are appliedmainly from one of the operator's hands to a position S1 (i.e., a forcepoint S1) on one handle 16A, and from the other the operator's hand to aposition S2 (i.e., a force point S2) on the other handle 16B as will beunderstood from FIG. 2.

In the two handles 16A, 16B configured as described above, preferably, alength of a perpendicular line extending from the force point S1 down tothe extension line A of the force input axis of the force sensor 15described above and a length of a perpendicular line extending from theforce point S2 down to the extension line A of the force input axis ofthe force sensor 15 described above are substantially the same (see abroken line in FIG. 2). With the configuration described above, sincethe force point S1 and the force point S2 are disposed on acircumference about the extension line A of the force input axis of theforce sensor 15, a resultant force of forces applied to the force pointS1 and the force point S2 of the two handles 16A, 16B described abovemay be input to the force input axis of the force sensor 15 describedabove with a high degree of accuracy.

Switches for executing various actions of the robot 11 are preferablyprovided on the two handles 16A, 16B as described above and on thehandle supporting unit 17.

Referring now to FIG. 3 and FIG. 4, the switches as described above willbe described below.

FIG. 3 is an explanatory drawing of switches provided respectively onthe two handles 16A, 16B and the handle supporting unit 17 illustratedin FIG. 2.

As illustrated in FIG. 3, the handle supporting unit 17 includes a speedchange switch 22, an action mode change-over switch 23, a teachingswitch 24, and an emergency stop switch 25.

The speed change switch 22, the action mode change-over switch 23, andthe teaching switch 24 are located at positions which allow the operatorto press while gripping the handle 16A.

The speed change switch 22 illustrated in FIG. 3 is a switch forchanging the speed of the distal end part of the arm unit 12 achievedwhen the operator moves the distal end part of the arm unit 12 whilegripping the two handles 16A, 16B. For example, when the speed changeswitch 22 is pressed, a predetermined speed command value is sent to therobot control apparatus 18, so that the distal end part of the arm unit12 moved by the operator is allowed to move at a predetermined speed.

In addition, the speed command value described above is preferablyswitched every time when the speed change switch 22 described above ispressed. For example, three different speed command values, i.e.,low-speed, medium-speed, and high-speed, may be provided as the speedcommand value described above, so that the speed command value describedabove may be switched to the speed command values such as the low-speed,the medium-speed, and the high-speed sequentially every time when thespeed change switch 22 is pressed.

The action mode change-over switch 23 illustrated in FIG. 3 is a switchfor changing an action mode when the operator moves the distal end partof the arm unit 12 while gripping the two handles 16A, 16B. For example,the action mode described above may include a translational action mode,a rotational action mode, or a translational and rotational action mode.When the action mode change-over switch 23 is pressed, a command tochange the action mode described above to the translational action, therotational action, or the translational and rotational action is sent tothe robot control apparatus 18. Accordingly, the robot control apparatus18 limits the action of the distal end part of the arm unit 12 moved bythe operator to the translational action, the rotational action, or thetranslational and rotational action.

In addition, the action mode described above may be switched to thetranslational action mode, the rotational action mode, and thetranslational and rotational action mode in this order every time whenthe action mode change-over switch 23 described above is pressed.

In this embodiment, the action of the distal end part of the arm unit 12is fixed only to the translational action, to the rotational action, orto the translational and rotational action unless the action modedescribed above is switched. The reason will be described below. Forexample, when moving the workpiece from one flat work-table to anotherflat work-table, if the posture of the workpiece is rotated duringmovement, the workpiece may not be stably placed when being placed onthe work-table, and workability may be affected. In such a case, fixingthe action of the distal end part of the arm unit 12 to only thetranslational action can facilitate the action thereof. Therefore, theaction of the distal end part of the arm unit 12 is adapted to beswitchable to only the translational action, to the rotational action,or to the translational and rotational action depending on theapplication of usage of the robot 11.

The teaching switch 24 illustrated in FIG. 3 is a switch for permittinginstruction about the action of the robot 11 to the robot controlapparatus 18. For example, a command to give an instruction about theaction of the robot 11 is sent to the robot control apparatus 18 whenthe teaching switch 24 is pressed. In addition, the position or theaction of the distal end part of the arm unit 12 moved by the operatormay be memorized in the robot control apparatus 18. For example, theposition of the distal end part of the arm unit 12 may be memorized inthe robot control apparatus 18 when the teaching switch 24 is pressed.Alternatively, the action of the distal end part of the arm unit 12while the teaching switch 24 is pressed may be memorized in the robotcontrol apparatus 18.

The emergency stop switch 25 illustrated in FIG. 3 is a switch forurgently stopping the action of the robot 11.

In this embodiment, two action permission switches 21A, 21B arepreferably provided on the two handles 16A, 16B, respectively. Since theaction permission switch 21A on the handle 16A is not illustrated inFIG. 3, see FIG. 4 described later. The action permission switches 21A,21B are also preferably located at positions which allow the operator topress while gripping the handles 16A, 16B.

Furthermore, the operation of the arm unit 12 described above ispreferably performed only when each of the action permission switches21A, 21B is pressed. More preferably, the operation to move the arm unit12 descried above is preferably performed only when the two actionpermission switches 21A, 21B are pressed simultaneously. Accordingly,when danger occurs in operation of the arm unit 12 of the robot 11 bythe operator, the movement of the arm unit 12 can be stopped immediatelysimply by stopping pressing of the switches 21A, 21B.

FIG. 4 is a perspective view illustrating an example of a mode of therobot operating apparatus 13 described above provided with a hand unit.FIG. 2 and FIG. 3 are perspective views of the robot operating apparatus13 viewed from obliquely front of a front surface facing the operator ofthe robot operating apparatus 13, whereas FIG. 4 is a perspective viewof the robot operating apparatus 13 viewed from obliquely rear.

In the robot 11 of this embodiment, a hand unit 27 that grips aworkpiece 26 may be mounted on the distal end part of the arm unit 12via a bracket 30 as illustrated in FIG. 4. When the hand unit 27 isprovided in this manner, a hand opening and closing switch 28 foropening and closing the hand unit 27 is preferably provided on thehandle 16A of the robot operating apparatus 13. For example, when thehand opening and closing switch 28 is pressed, a hand action command issent to the robot control apparatus 18, so that the hand unit 27 isallowed to open and close.

The hand unit 27 may be configured to be closed for gripping theworkpiece 26 when the hand opening and closing switch 28 is pressed andthe hand unit 27 may be configured to be opened to release the workpiece26 when the hand opening and closing switch 28 is pressed. In addition,the opening action and the closing action of the hand unit 27 may beswitched alternately every time when the hand opening and closing switch28 is pressed.

The hand opening and closing switch 28 is also preferably located at aposition which allows the operator to press while gripping the handle16A. A wall is preferably provided around the hand opening and closingswitch 28 so as to prevent the operator from pressing the hand openingand closing switch 28 by mistake.

Second Embodiment

Subsequently, a second embodiment will be described. However, the samecomponents as in the first embodiment are denoted by the same referencenumerals and description will be omitted. Therefore, only pointsdifferent from the components of the first embodiment will be describedbelow.

FIG. 5 is a perspective view of a robot operating apparatus according tothe second embodiment.

In the second embodiment, an annular handle 16C is supported by thehandle supporting unit 17 as illustrated in FIG. 5. The handlesupporting unit 17 is disposed at a center of the annular handle 16C.The annular handle 16C is provided integrally with the handle supportingunit 17 via an extension member 29.

A dot-and-dash line A illustrated in FIG. 5 indicates the extension lineA of the force input axis of the force sensor 15 in the same manner asthe first embodiment described above.

In addition, in the second embodiment described above, the two actionpermission switches 21A, 21B are provided respectively at two positionson the annular handle 16C. An operation of the arm unit 12 is preferablyperformed only when one of the two action permission switches 21A, 21Bis pressed or only when the two action permission switches 21A, 21B arepressed simultaneously. When the operator moves the arm unit 12 whilepressing the action permission switches 21A, 21B respectively with bothhands, forces are applied mainly to a position S3 (i.e., a force pointS3) in the vicinity of the action permission switch 21A on the handle16C and a position S4 (i.e., a force point S4) in the vicinity of theaction permission switch 21B on the handle 16C as illustrated in FIG. 5.

In the annular handle 16C as described above, preferably, a length of aperpendicular line extending from the force point S3 down to theextension line A of the force input axis of the force sensor 15described above and a length of a perpendicular line extending from theforce point S4 down to the extension line A of the force input axis ofthe force sensor 15 described above are substantially the same (see abroken line in FIG. 5). With the configuration described above, sincethe force point S3 and the force point S4 are disposed on thecircumference about the extension line A of the force input axis of theforce sensor 15, a resultant force of forces applied to the force pointS3 and the force point S4 on the annular handle 16C described above maybe input to the force input axis of the force sensor 15 described abovewith a high degree of accuracy. In this embodiment, the two actionpermission switches 21A, 21B and the two force points S3, S4 aredisposed respectively at positions symmetrical with respect to theextension line A of the force input axis of the force sensor 15.

With the annular handle 16C described above as well, the operator isable to apply a rotational force about an axial line that connects theforce point S3 and the force point S4 easily to the arm unit 12 whilegripping the annular handle 16C at positions on the handle 16C in thevicinity of the action permission switches 21A, 21B respectively withboth hands.

Third Embodiment

Subsequently, a third embodiment will be described. However, the samecomponents as in the first embodiments are denoted by the same referencenumerals and description will be omitted. Therefore, only pointsdifferent from the components of the first embodiment will be describedbelow.

FIG. 6 is a perspective view of a robot operating apparatus according tothe third embodiment.

In the third embodiment, four rod-shaped handles 16D, 16E, 16F, 16G areprovided integrally with the handle supporting unit 17 so that thehandles 16D, 16E, 16F, 16G project respectively sideways of the handlesupporting unit 17 as illustrated in FIG. 6.

Furthermore, the two rod-shaped handles 16D, 16E are disposed in series,and the two rod-shaped handles 16F, 16G are disposed in series. The setof the two handles 16D, 16E and the set of the two handles 16F, 16G aredisposed orthogonally to each other. In other words, a structureincluding the rod-shaped four handles 16D, 16E, 16F, 16G illustrated inFIG. 6 presents a mode of a substantially cross-shaped handle.

A dot-and-dash line A illustrated in FIG. 6 indicates the extension lineA of the force input axis of the force sensor 15 in the same manner asthe first embodiment described above.

In addition, in the third embodiment described above, the four actionpermission switches 21A, 21B, 21C, 21D are provided respectively on thefour annular handles 16D, 16E, 16F, 16G. An operation of the arm unit 12is preferably performed only when at least one of the four operationpermission switches 21A, 21B, 21C, 21D is pressed. Alternatively, theoperation of the arm unit 12 is preferably performed only when the twoaction permission switches 21A, 21B or the two operation permissionswitches 21C, 21D are pressed simultaneously. When the operator movesthe arm unit 12 while pressing the action permission switches 21A, 21Brespectively with both hands, a force is applied mainly to a position S5(i.e., a force point S5) in the vicinity of the action permission switch21A on the handle 16D as illustrated in FIG. 6. Furthermore, a force isapplied mainly to a position S6 (i.e., a force point S6) in the vicinityof the action permission switch 21B on the handle 16E.

When the operator moves the arm unit 12 while pressing the actionpermission switches 21C, 21D respectively with both hands, forces areapplied mainly to a position S7 (i.e., a force point S7) in the vicinityof the action permission switch 21C on the handle 16F and a position S8(i.e., a force point S8) in the vicinity of the action permission switch21D on the handle 16G as illustrated in FIG. 6.

In the mode of the substantially cross-shaped handle as described above,preferably, a length of a perpendicular line extending from the forcepoint S5 (or the force point S7) down to the extension line A of theforce input axis of the force sensor 15 described above and a length ofa perpendicular line extending from the force point S6 (or the forcepoint S8) down to the extension line A of the force input axis of theforce sensor 15 described above are substantially the same (see a brokenline in FIG. 6). Accordingly, the force points S5, S6 (or the forcepoints S7, S8) are disposed on the circumference about the extensionline A of the force input axis of the force sensor 15. Therefore, aresultant force of forces acting on the force point S5 and the forcepoint S6 of the two handles 16D, 16E described above or a resultantforce of forces applied to the force point S7 and the force point S8 ofthe two handles 16F, 16G described above may be input to the force inputaxis of the force sensor 15 described above with a high degree ofaccuracy. In this embodiment, the two action permission switches 21A,21B and the two force points S5, S6 are disposed respectively atpositions symmetrical with respect to the extension line A of the forceinput axis of the force sensor 15. The two action permission switches21C, 21D and the two force points S7, S8 are disposed respectively atpositions symmetrical with respect to the extension line A of the forceinput axis of the force sensor 15.

In the mode of the substantially cross-shaped handle described above aswell, the operator is able to apply a rotational force about an axialline that connects the force point S5 and the force point S6 easily tothe arm unit 12 while gripping the two handles 16F, 16G respectivelywith both hands.

Fourth Embodiment

Subsequently, a fourth embodiment will be described. However, the samecomponents as in the first embodiments are denoted by the same referencenumerals and description will be omitted. Therefore, only pointsdifferent from the components of the first embodiment will be describedbelow.

FIG. 7 is a perspective view of a robot operating apparatus according tothe fourth embodiment.

In the fourth embodiment, two L-shaped handles 16H, 16I are providedrespectively on both sides of the handle supporting unit 17 asillustrated in FIG. 7. The two handles 16H, 16I extend in parallel toeach other in the same direction. The handles 16H, 16I are providedintegrally with the handle supporting unit 17 so as to present a mode ofa substantially U-shaped handle.

A dot-and-dash line A illustrated in FIG. 7 indicates the extension lineA of the force input axis of the force sensor 15 in the same manner asthe first embodiment described above.

In addition, in the fourth embodiment described above, the two actionpermission switches 21A, 21B are provided respectively on the twohandles 16H, 16I. The operation of the arm unit 12 is preferablyperformed only when one of the two action permission switches 21A, 21Bis pressed or only when the two action permission switches 21A, 21B arepressed simultaneously. When the operator moves the arm unit 12 whilepressing the action permission switches 21A, 21B respectively with bothhands, forces are applied mainly to a position S9 (i.e., a force pointS9) in the vicinity of the action permission switch 21A on the handle16H and a position S10 (i.e., a force point S10) in the vicinity of theaction permission switch 21B on the handle 16I as illustrated in FIG. 7.

In the two handles 16H, 16I as described above, preferably, a length ofa perpendicular line extending from the force point S9 down to theextension line A of the force input axis of the force sensor 15described above and a length of a perpendicular line extending from theforce point S10 down to the extension line A of the force input axis ofthe force sensor 15 described above are substantially the same (see abroken line in FIG. 7). With the configuration described above, sincethe force point S9 and the force point S10 are disposed on thecircumference about the extension line A of the force input axis of theforce sensor 15, a resultant force of forces applied to the force pointS9 and the force point S10 of the two handles 16H, 16I described abovemay be input to the force input axis of the force sensor 15 describedabove with a high degree of accuracy.

With the L-shaped two handles 16H, 16I described above as well, theoperator is able to apply a rotational force about an axial line thatconnects the force point S9 and the force point S10 easily to the armunit 12 while gripping the two handles 16H, 16I with both hands.

In each of the second embodiment, the third embodiment, and the fourthembodiment as described above as well, the speed change switch 22, theaction mode change-over switch 23, the teaching switch 24, and theemergency stop switch 25 similar to those provided in the firstembodiment described above are preferably provided on the handlesupporting unit 17.

According to the respective embodiments described above, forces areapplied from at least two force points (S1 to S10) by the operatorgripping the handle structure with both hands when the operator movesthe distal end part of the arm unit 12. Accordingly, as regards adirection in which application of a force to the arm unit 12 isdifficult by only applying a force from one force point, a force may beapplied easily to the arm unit 12 by applying a force from another forcepoint. Therefore, the distal end part of the arm unit 12 may be movedeasily as the operator intends.

Although the strain gauge-type force sensor is used as the force sensor15 in the respective embodiments, the present invention is not limitedthereto. For example, a capacitance force sensor or a force sensorconfigured to detect displacement by an applied force may be used as theforce sensor 15. In the robot operating apparatus 13 of the respectiveembodiments, a torque sensor or a moment detector may be used instead ofthe force sensor 15 as an apparatus that detects a force, torque, ormoment applied to the robot operating apparatus 13 by the operator.

Although typical embodiments have been described thus far, the presentinvention is not limited to the respective embodiments described above,and various modifications may be made on shape, structure, and materialof the respective embodiments of the present invention without departingfrom the scope of the present invention.

Advantageous Effects of the Invention

According to the first aspect of the present invention, as the operatoris able to apply a force to the arm unit while gripping the handlestructure with both hands, the operator may easily move the distal endpart of the arm unit as intended even in the direction in which theapplication of a force to the arm unit is difficult by only applying aforce from one force point.

According to the second or the third aspect, when danger occurs inoperation of the arm unit of the robot by the operator, the movement ofthe arm unit may be stopped immediately by stopping pressing of theswitches.

According to the fourth aspect, since the two force points are disposedon the circumference about the extension line of the force input axis ofthe sensor configured to detect a force or moment, a resultant force offorces applied to the two force points may be input to the force inputaxis of the sensor with a high degree of accuracy.

According to the fifth aspect of the present invention, with theprovision of the speed change switch on the robot operating apparatus,the speed of movement of the distal end part of the arm unit may be setto a predetermined speed.

According to the sixth aspect of the present invention, with theprovision of the action mode change-over switch on the robot operatingapparatus, the action taken when the distal end part of the arm unit ismoved may be fixed to the translational action, the rotational action,or the translational and rotational action.

According to the seventh aspect of the present invention, with theprovision of the teaching switch on the robot operating apparatus, theaction of the arm unit caused by the robot operating apparatus may beinstructed to the control apparatus.

According to the eighth aspect of the present invention, when the handunit is provided on the distal end part of the arm unit via the bracket,opening and closing of the hand unit may be performed by the handopening and closing switch.

1. A robot operating apparatus comprising: a sensor mounted on thedistal end part of an arm unit of an industrial robot that is controlledby a control apparatus and configured to detect a force or moment; and ahandle supporting unit mounted on the distal end part of the arm unitvia the sensor, and configured the force or the moment detected by thesensor to the control apparatus in a form of an electric signal to movethe distal end part of the arm unit in accordance with a direction and amagnitude of the force or the moment detected by the sensor, wherein thehandle supporting unit supports as least one handle, and a handlestructure including the at least one handle includes two force pointswhere forces are applied while being gripped with both hands, and thesensor is adapted to detect a resultant force of forces applied to thetwo force points.
 2. The robot operating apparatus according to claim 1,wherein the handle is provided with a switch, and the robot operatingapparatus is adapted to permit the distal end part of the arm unit tomove only when the switch is pressed.
 3. The robot operating apparatusaccording to claim 1, wherein the switches are provided in thevicinities of the at least two force points respectively, and the robotoperating apparatus is adapted to permit the distal end part of the armunit to move only when the two switches are pressed simultaneously. 4.The robot operating apparatus according to claim 1, wherein a length ofa perpendicular line extending from one of the two force points down toan extension line of a force input axis of the sensor and a length of aperpendicular line extending from the other force point of the two forcepoints down to the extension line of the force input axis of the sensorare substantially the same.
 5. The robot operating apparatus accordingto claim 1, further comprising a speed change switch configured tochange a speed of the distal end part of the arm unit when moving thedistal end part of the arm unit, wherein the robot operating apparatusis adapted to send a predetermined speed command value to the controlapparatus when the speed change switch is pressed.
 6. The robotoperating apparatus according to claim 1, further comprising an actionmode change-over switch configured to change an action mode when movingthe distal end part of the arm unit, wherein the robot operatingapparatus is adapted to send a command to change the action mode to atranslational action, a rotational action, or a translational androtational action to the control apparatus when the action modechange-over switch is pressed.
 7. The robot operating apparatusaccording to claim 1, further comprising a teaching switch configured togive an instruction about an action of the arm unit to the controlapparatus, wherein the robot operating apparatus is adapted to send acommand to give an instruction about an action of the arm unit to thecontrol apparatus when the teaching switch is pressed.
 8. The robotoperating apparatus according to claim 1, wherein the robot operatingapparatus comprises a hand unit mounted on the sensor and configured togrip a workpiece, and a hand opening and closing switch configured toopen and close the hand unit, wherein the robot operating apparatus isadapted to send a hand action command to the control apparatus when thehand opening and closing switch is pressed.